Set default PID DENOM

src/main/flight/pid.c

@@ -89,26 +89,32 @@ FAST_DATA_ZERO_INIT float throttleBoost;
 pt1Filter_t throttleLpf;
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
+PG_REGISTER_WITH_RESET_FN(pidConfig_t, pidConfig, PG_PID_CONFIG, 4);
 
+void pgResetFn_pidConfig(pidConfig_t *pidConfig)
+{
+    unsigned denom = 1;
 #if defined(STM32F411xE)
-#define PID_PROCESS_DENOM_DEFAULT       2
-#else
-#define PID_PROCESS_DENOM_DEFAULT       1
+    bool found = false;
+    for (unsigned pos = 0; pos < 7; pos++) {
+        if (gyroConfig()->gyrosDetected & BIT(pos)) {
+            found = true;
+            break;
+        }
+    }
+    if (found) {
+        if (gyro.gyroSensor1.gyroDev.gyroHardware != GYRO_BMI160 || gyro.gyroSensor1.gyroDev.gyroHardware != GYRO_BMI270) {
+            denom = 2;
+        }
+    }
 #endif
-
+    pidConfig->pid_process_denom = denom;
 #ifdef USE_RUNAWAY_TAKEOFF
-PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
-    .pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
-    .runaway_takeoff_prevention = true,
-    .runaway_takeoff_deactivate_throttle = 20,  // throttle level % needed to accumulate deactivation time
-    .runaway_takeoff_deactivate_delay = 500,    // Accumulated time (in milliseconds) before deactivation in successful takeoff
-);
-#else
-PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
-    .pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
-);
+    pidConfig->runaway_takeoff_prevention = true;
+    pidConfig->runaway_takeoff_deactivate_throttle = 20;  // throttle level % needed to accumulate deactivation time
+    pidConfig->runaway_takeoff_deactivate_delay = 500;    // Accumulated time (in milliseconds) before deactivation in successful takeoff
 #endif
+}
 
 #ifdef USE_ACRO_TRAINER
 #define ACRO_TRAINER_LOOKAHEAD_RATE_LIMIT 500.0f  // Max gyro rate for lookahead time scaling